Method and system for automated transport of items

ABSTRACT

An automated distribution center includes an array with storage locations arranged along aisle(s) having a floor, and a mezzanine platform above the floor, the floor and mezzanine being configured for human picker access to the storage locations, an automated guided vehicle (AGV) configured for traverse of the floor and mezzanine to the storage locations, and for transporting a storage container to and from the storage locations, the floor and mezzanine each having an undeterministic traverse surface for the AGV, the AGV is configured so that the surface provides holonomic selectable paths for the AGV substantially everywhere on the surface, each path being selectable by the AGV, and an order filling station, where one or more goods are picked from container(s) to fill order(s), wherein the AGV is configured to pick the container from a storage location and transport the container on the surface between the storage array and the station.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. Non-Provisional patentapplication Ser. No. 14/972,722, filed on Dec. 17, 2015 (now U.S. Pat.No. 10,214,354, issued Feb. 26, 2019), which claims priority from andthe benefit of U.S. provisional patent application No. 62/093,786, filedon Dec. 18, 2014, the disclosures of which are incorporated by referenceherein in their entirety.

BACKGROUND 1. Field

The exemplary embodiments generally relate to transportation of items,more particularly, to the automated transportation of items betweenmultiple points.

2. Brief Description of Related Developments

Generally, conventional large scale automated distribution centers thatfulfill orders including one or more items (where each item is called an“each” and the picking process of an “each” is referred to as an “eachpick”) have a customized storage structures in which automated guidedvehicles operate. These customized storage structures are generallyexpensive, require lengthy installation times and are not easily changedor moved once constructed. In addition, the automated guided vehiclesoperating within the customized storage structures are generallyconstrained by the walls or other structure of the customized storagestructure. As may be realized, the automated guided vehicles pick casesof items from storage locations of the customized storage structure, asspecified in an order, and bring the picked items, as needed, to pickingstations where a human picker grabs the required number of items fromthe cases carried by the automated guided vehicles for fulfilling theorder. The automated guided vehicles then return the cases of items tothe storage locations of the customized storage structure.

Generally there are many conventional automated transportation andstorage systems that utilize motorized autonomous transport vehicles totransport products between two or more locations in a warehouse.However, those vehicles may not be fully autonomous in the sense thatthe customized storage structure contains the automated guided vehiclesfrom leaving the customized storage structure, provides mechanical orother means (e.g. lines on the floor, etc.) of simplifying and/orconstraining vehicle motion to one certain areas/directions, andprovides alignment between the automated guided vehicle and a productcontainer to make picking/placing of the product container reliable.Those vehicles also may not be safe enough to operate in the presence ofhumans and/or other equipment, requiring a structure to contain thevehicles or a defined “robot only” area of operation that is away fromhumans and/or other equipment, decreasing flexibility, efficiency andease of maintainability/serviceability of the system. As noted above, acustomized storage structure that provides these features may be costprohibitive and may prevent distribution systems from adopting a largescale automated transportation/picking system. These conventionalsystems may also preclude workers from fulfilling orders usingtraditional picker-to-goods methods in the same space occupied by theautomated guided vehicles in order to best optimize the system for orderfulfillment efficiency.

It would be advantageous to have a low cost, retrofitable automatedtransportation system for transferring items between multiple locationsin a distribution center that also allows, if desired, for simultaneouspicker-to-goods methods in the same space as the automatedtransportation system.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing aspects and other features of the disclosed embodiment areexplained in the following description, taken in connection with theaccompanying drawings, wherein:

FIG. 1A is a schematic illustration of a distribution center inaccordance with aspects of the disclosed embodiment;

FIG. 1B is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 1C is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 2 is a schematic illustration of an automated guided vehicle inaccordance with aspects of the disclosed embodiment;

FIG. 3 is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 3A is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 4 is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 4A is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 5 is a schematic illustration of a portion of the distributioncenter of FIG. 1A in accordance with aspects of the disclosedembodiment;

FIG. 6 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the disclosed embodiment;

FIG. 7 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the disclosed embodiment;

FIG. 8 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the disclosed embodiment;

FIG. 9 is a schematic illustration of automated guided vehiclenavigation in accordance with aspects of the disclosed embodiment; and

FIG. 10 is a flow diagram in accordance with aspects of the disclosedembodiment.

DETAILED DESCRIPTION

FIG. 1A is a schematic illustration of a distribution center orwarehouse 1 in accordance with aspects of the disclosed embodiment.Although the aspects of the disclosed embodiment will be described withreference to the drawings, it should be understood that the aspects ofthe disclosed embodiment can be embodied in many forms. In addition, anysuitable size, shape or type of elements or materials could be used.

The aspects of the disclosed embodiment described herein provide asystem for automating order fulfillment, replenishment, and/or returnsin a warehouse 1 without requiring large changes in the physicalinfrastructure of an existing warehouse 1. The aspects of the disclosedembodiment include one or more automated guided vehicles 10 that pick,place or otherwise move storage containers 40 (which hold any suitableproducts or goods and are configured for placement in a storage space ona storage rack/shelf) from one place to another within the warehouse 1.In one instance, the aspects of the disclosed embodiment are retrofit toan existing warehouse structure (e.g. the aspects of the disclosedembodiment utilize an existing storage structure which includes at leaststorage racks with storage spaces and a floor). The automated guidedvehicles 10 are deployed in the existing warehouse structure to movethroughout the warehouse 1 for moving the storage containers 40according to instructions from any suitable controller 2 that is incommunication with the automated guided vehicles 10 in any suitablemanner (such as for example, through a wireless or wired communicationconnection). The automated guided vehicles are deployed on a singlelevel of the warehouse 1 (as illustrated in FIG. 1A) or on multiplelevels of the warehouse 1 where mezzanine platforms 70 are connected tothe existing warehouse structure to form the multiple levels (asillustrated in FIG. 1B). Automated guided vehicle access to each of themultiple levels, as will be described in greater detail below isprovided through an automated guided vehicle vertical transport system.In other aspects, the vertical transport system could be used to onlymove the storage containers 40 between levels where containers 40 aretransferred between the automated guided vehicles 10 and the verticaltransport system. In another instance the aspects of the disclosedembodiment are implemented during construction of a new warehouse sothat automation of the existing or new warehouse is achieved with commonlow cost structures compared to conventional automated warehouse systemshaving customized storage structures.

As can be seen in FIG. 1A the warehouse 1 includes a storage array 20including one or more stacked racks 30. Each of the stacked racks 30includes one or more (e.g. at least one) storage locations positioned onthe rack in a predetermined location (e.g. predetermined storagelocations 30S) such that each of the predetermined storage locations 30Sis configured to hold or store at least one storage container 40. Theone or more stacked racks 30 are arranged so as to form aisles 50between the racks 30 where the predetermined storage locations 30S (andhence the storage containers 40) are arranged along the aisles 50.

Referring also to FIG. 1B, each of the aisles 50 includes a base orfloor 60. One or more mezzanine platforms 70 are disposed above thefloor 60 and are connected to the stacked racks 30 in any suitablemanner (e.g. by mechanical fasteners, clips, etc.) such that at leastthe stacked racks support the mezzanine platforms 70. In other aspects,columns or other support structure are provided for supporting themezzanine platforms 70. The mezzanine platforms 70 are spaced apart fromeach other and with the floor by a distance D to form multiple levels ofstorage and to provide human picker access to the predetermined storagelocations 30S of each of the racks 30 along the one or more aisles 50.In other words the levels of storage or mezzanines 70 are separated by aheight D that makes human access into at least the aisles 50 of eachlevel of storage comfortable for manual picker-to-goods orderfulfillment tasks (e.g. a human picking goods from storage containerslocated substantially directly in the storage spaces 30S) and forservicing or maintaining one or more of the automated guided vehicles 10located within the rack array 20. As will be described in greater detailbelow, the one or more automated guided vehicles 10 are provided andconfigured to traverse the floor 60 and the one or more mezzanineplatforms 70 to access each of the predetermined storage locations 30Sof the storage array 20. As will also be described in greater detailbelow the one or more automated guided vehicles 10 are configured tohold and transport one or more storage containers 40 to and from thepredetermined storage locations 30S. As may be realized, referring toFIGS. 1B and 1C, any suitable vertical transport system VTS is providedthat connects the floor 60 to the mezzanine platforms 70 and thatconnects the mezzanine platforms 70 to other ones of the stackedmezzanine platforms 70. In one aspect the vertical transport system VTSincludes one or more of vertical lifts VTSL and ramps VTSR. In oneaspect the vertical lifts VTSL are configured for automated guidedvehicle 10 roll on and roll off (in a manner similar to an elevator thatstops at each floor to allow the vehicles to roll onto an elevatorplatform and to roll off of the elevator platform). In other aspects thevertical lifts VTSL have any suitable configuration for transporting theautomated guided vehicles 10 and/or the containers 40 between thestorage levels formed by the floor 60 and mezzanine platforms 70. In oneaspect one or more ramps VTSR having any suitable configuration areprovided between the storage levels so that the automated guidedvehicles 10 traverse the ramp(s) VTSR between the storage levels. In oneaspect each of the ramps VTSR includes a surface SS substantiallysimilar to surfaces 60S and 70S of the floor 60 and mezzanine platforms70 (as will be described below). In other aspects, the storagecontainers 40 are transferred from a storage location 30S to a level(such as the floor 60 and/or a mezzanine platform 70) on which theautomated guided vehicle 10 is located by a storage container transportsystem 99 that only moves the storage containers 40. For example, thestorage container transport system 99 includes one or more of a ramp,conveyor, lift or any other suitable vertical transport that interfaceswith the storage locations 30S for picking and placing storagecontainers from and to the storage locations 30S and that interfaceswith the automated guided vehicles 10 for transferring the storagecontainers 40 to and from the automated guided vehicles 10. In oneaspect the storage container transport system 99 includes any suitabletransfer unit for transferring containers 40 to and from the storagespaces 30S while in other aspects the storage spaces 30S/rack 30 includeany suitable transfer unit for transferring containers 40 to and fromthe storage container transport system 99.

The floor 60 and the one or more mezzanine platforms 70, along which theone or more automated guided vehicles 10 travel, each include anundeterministic traverse surface 30S, 70S. The automated guided vehicle10 is configured, as will be described below, so that theundeterministic traverse service 30S, 70S provides holonomic selectablepaths 75 for the automated guided vehicle substantially everywhere onthe respective undeterministic traverse surfaces 30S, 70S. Here the termholonomic selectable paths means that any path anywhere on the surface30S, 70S is substantially equal to each other with respect to thesurface 30S, 70S so that the automated guided vehicle 10 is free toselect a path everywhere on the surface subject to other parameters suchas obstacles, edges or the racks or walls of the warehouse, optimumpathway way points, etc. As will also be described in greater detailbelow, each of the holonomic selectable paths 75 is freely selectable bythe automated guided vehicle 10 and/or a central controller 2 (which isin communication with the automated guided vehicle 10) for traversealong the aisles of the floor 60 and/or mezzanine platforms 70.

Referring now to FIGS. 2 and 4 each automated guided vehicle 10 includesa frame 10F, a plurality of wheels 10W (at least one of which is a drivewheel 252D) and a gripper/manipulator or effector 10A. In one aspect thegripper is movable (e.g. a movable container grip or containermanipulator subsystem, see also FIG. 2) that is configured to engage thestorage containers 40 so as to pick and place one of the storagecontainers 40 to and from a storage location 30S on the racks 30. Thegripper 10A includes one or more degrees of freedom for effectingtransfer of containers 40 to and from the automated guided vehicle 10 atone or more predetermined heights (e.g. such as a height of an orderfill station, ergonomic human picker height, storage space height,etc.). In one aspect the gripper 10A includes at least two degrees offreedom for effecting extension of the gripper 10A along for example, aY axis and a Z axis (e.g. where an X axis of the automated guidedvehicle is coincident with a longitudinal path of travel of theautomated guided vehicle and the Y axis is transverse to X axis—see FIG.1A). The automated guided vehicle 10 is, in one aspect configured toextend the gripper 10A along the Y axis for transferring containers toand from the storage spaces 30S while in other aspects, the automatedguided vehicle 10 is configured to extend the gripper 10A along the Xaxis for transferring containers to and from the storage spaces 30S. Inone aspect the automated guided vehicle is configured to extend thegripper 10A along the Z axis where the automated guided vehicle 10 movesalong one or more of the X or Y axes for at least partially effectingpositioning of the gripper 10A relative to the container 40 (e.g. toengage and move the container 40 along one or more of the X and Y axes,in and out of the storage spaces 30S). In one aspects the automatedguided vehicle 10 rotates so that the X axis of the automated guidedvehicle 10 faces the storage locations 30S. In one aspect the gripper10A includes a storage container support 10AG configured to pick andhold at least one storage container 40. As may be realized, in oneaspect, the automated guided vehicle 10 includes a mast 10AM along whichthe gripper 10A rides for accessing or otherwise reaching storagecontainers 40 at all heights on each level of storage (see FIG. 1B whereeach level of storage includes multiple levels of stacked storage spaces30S). In one aspect the mast 10AM provides the gripper 10A with a Z axisstroke range that positions a storage container 40 held by the gripper10A at a human picker upper ergonomic pick and place height so that thehuman picker picks and places items to and from the storage container 40(or order fill container) substantially without ergonomic distress. Inone aspect each of the storage containers 40 are substantially the sameto other ones of the storage containers 40 while in other aspects eachof the storage containers 40 is different (e.g. constructed of adifferent material, has different dimensions, has a different shape,etc.) than at least one other storage container 40. In any event, thegripper 10A is configured to pick and hold the storage containers 40 inany suitable manner.

Each automated guided vehicle 10 also includes a drive subsystem 252, aguidance subsystem 254, an obstacle detection subsystem 256, acontroller subsystem 258 and a power supply 250. The subsystems of theautomated guided vehicle 10 include sensors, as will be described below,that provide the automated guided vehicle awareness of (e.g. the abilityto detect) the environment around the automated guided vehicle 10 sothat the automated guided vehicle knows its position and orientationwith respect to the warehouse substantially at all times. For example,the automated guided vehicles know their surrounding at a time where theautomated guided vehicles receive a command from, for example, thecontroller 2 for picking and transporting a storage container 40 andprior to navigating. Based on the awareness of its surroundings theautomated guided vehicle 10 selects a path 75 based on any suitableoptimizing algorithm resident in, for example, controller subsystem 258of the automated guided vehicle 10 and then iteratively updates the path(e.g. the path is changed from the selected path as needed) based on,for example, information obtained from the automated guided vehiclesensors and any detected obstacles, transients and waypoints.

As may be realized, the sensors provide alignment between the automatedguided vehicles 10 and the storage containers 40 and/or storage spaces30S to or from which a storage container 40 is picked or placed. Thesensors also prevent the automated guided vehicle 10 from colliding withother automated guided vehicles 10, warehouse equipment (e.g. such asracks, forklifts, etc.), humans or other obstacles. As may be realized,although humans are not required to be in the storage aisles 50 whilethe automated guided vehicles 10 are moving storage containers 40 withinthe aisles 50 and other portions of the warehouse 1, the aspects of thedisclosed embodiment do not restrict human access within zones ofmovement of the automated guided vehicles 10 during operation of theautomated guided vehicles 10. The fully autonomous nature of theautomated guided vehicles 10 does not require substantially anymechanical structure to contain the automated guided vehicles or inother words, the operation of the automated guided vehicles 10 does nothinder human access to the storage spaces and vice versa (the automatedguided vehicles comingle with humans in a common space of the automatedstorage system).

The power supply is any suitable power supply, such as a rechargeablepower supply, configured to provide power to the automated guidedvehicle and all of its subsystems 252, 254, 256, 258, 260. Thecontroller subsystem 258 is any suitable control system such as amicroprocessor-based controller subsystem configured to controloperation of the automated guided vehicle 10 in performing programmedbehaviors such as those described herein. The controller subsystem 258is configured (e.g., programmed) to perform various functions, includingeffecting the transport of items with the automated guided vehicle 10between endpoints. The controller subsystem 258 is connected to andresponsive to the output of guidance subsystem 254 and the output ofobstacle detection subsystem 256. The controller subsystem 258 controlsthe drive subsystem 252 to maneuver the automated guided vehicle 10 (asdescribed herein) to prescribed endpoint locations such as one or morepredetermined storage spaces 30S and order filling station 80. Thecontroller subsystem 258 is also connected to a manipulator subsystem260 (of which the gripper 10A is a part of) such that the manipulatorsubsystem 260 is commanded by the controller subsystem 258 to pick orplace a container 40 with the gripper 10A from any suitable containerholding location. The controller subsystem 258 is connected to thecontroller 2 in any suitable manner such as through a wired or wirelessconnection for receiving storage container picking/placing and transportcommands from the controller 2. For example, in one aspect thecontroller 2 includes warehouse management system WMS configured toreceive orders and to identify storage containers 40 (that includeproducts associated with the orders) and the corresponding storagelocations 30S for the identified storage containers 40. In one aspectthe controller 2 also includes, or is otherwise connected to, anautomated guided vehicle manager AVM that is configured to command theautomated guided vehicles 10 so that the automated guided vehicles 10traverse the floor 60 and/or mezzanine platform(s) 70 to thecorresponding storage locations 30S for picking at least one of theidentified storage containers 40. In one aspect, the automated guidedvehicle manager AVM is in communication with the automated guidedvehicles in any suitable manner, such as a wired or wireless connection.As may be realized, in response to a command from the controller 2 (orautomated guided vehicle manager AVM) the automated guided vehicles 10generate respective selected paths on the undeterministic traversesurface(s) 60A, 70S that corresponds to the storage location 30S of theidentified storage container 40 (e.g. one automated guided vehicle iscommanded to pick or place at least one identified storage container) byselecting from the holonomic selectable paths 75. As will be describedbelow, the respective selected path is modified as by the automatedguided vehicle 10 depending on a sensing or detection of transientfeatures affecting the selected path so that changes to the selectedpath are effected. In one aspect, the controller 2 also includes anautomated human picker manager HPM communicably connected with at leastone human picker HP. The automated human picker manager HPM is incommunication with the automated guided vehicle manager AVM and isconfigured to command the at least one human picker to work in concertwith the at least one autonomous guided vehicle 10 in any suitablemanner such as described in, for example, U.S. provisional patentapplication No. 62/063,825 filed on Oct. 14, 2014 and entitled “StorageMaterial Handling System”, the disclosure of which is incorporatedherein by reference in its entirety.

The drive subsystem 252 is mounted to the frame (and which includeswheels, at least one of which is a drive wheel) for maneuvering theframe 10F (and hence the automated guided vehicle 10). In one aspect thedrive subsystem 252 is a differential drive system having twoindependently operable coaxial drive wheels 252D and at least one rollerwheel 10W for balance or support of the frame 10F. The drive wheels 252Dare driven together or independently by one or more motors and anysuitable drive transmission controlled by, for example, the controllersubsystem 258. In other aspects, the drive subsystem 252 includessteered wheels or any other suitable drive configuration for effectingmovement of the automated guided vehicle 10 through the warehouse 1.

The guidance subsystem 254 is mounted to the frame 10F for interactingwith the drive subsystem 252 and is configured to effect navigation ofthe automated guided vehicle 10 in any suitable manner such as thosedescribed in U.S. Pat. No. 8,676,425 and U.S. patent application Ser.No. 13/285,511 filed on Oct. 31, 2011 the disclosures of which areincorporated herein by reference in their entireties. Referring also toFIG. 6, in one aspect the guidance subsystem includes a simultaneouslocation and mapping (SLAM) navigation system that provides theautomated guided vehicle 10 a global coordinate or reference frame REFwith respect to the warehouse 1. Here the automated guided vehicleguidance is effected through a coordinate system that lacks physicalmarkers or beacons.

Referring also to FIGS. 7-9, in one aspect, the guidance subsystem 254includes one or more of a marker detecting sensor(s) 254S1 and/or abeacon sensor(s) 254S2. In one aspect the marker detecting sensor(s)254S1 are configured to detect the position of a marker such as aretro-reflective tape (or other suitable marker such as a capacitive orinductive marker or other optical marker including but not limited tobarcodes) laid on the floor 60 (e.g. on the undeterministic traversesurfaces 60S), on the mezzanine platform 70 (e.g. on the undeterministictraverse 70S) and/or on any other suitable surface such as the walls ofthe warehouse 1 and/or on the racks 30. In one aspect the markerdetecting sensor(s) 254S2 include one or more of a photodiode-basedsensor, one or more radiation sources (e.g., LEDs), inductive sensors,capacitive sensors, barcode reader, etc. to detect the marker. In oneaspect the beacon sensor 254S2 includes any suitable transmitter and/orreceiver configured to actively or passively detect any suitable radiofrequency beacons 12 (or other suitable beacon such as an infrared,laser or other optical beacon). As can be seen in FIG. 7, for example,the guidance subsystem 254 includes a plurality of active (e.g. having aradio frequency or other (e.g., infrared) beacon transmitter) or passive(e.g. configured to passively return a signal) beacons or tags 12 thatare located at any suitable location of the warehouse 1 (such as on theracks, on walls, on the floor 60, on the mezzanine platform 70, ceiling,etc.). In this case, the beacon sensor(s) 254S2 are configured to detectsignals from beacons or detect the beacons themselves for locating theautomated guided vehicle 10 relative to the storage spaces 30S, theracks 30, the order filling stations 80 and any other suitable structureof the warehouse 1. By way of example, where beacons 12 are used, eachautomated guided vehicle 10 should secure a line of sight to one or morebeacons 12, for example, an origin and/or destination beacon could bevisible (either optically or through radio waves) to the automatedguided vehicle 10 for at least a period of time. The automated guidedvehicle 10 moves directly from one beacon (e.g. the origin beacon)toward the other (e.g. the destination beacon) unless an obstacleintervenes as described herein. In one aspect each beacon 12 establishesa respective coordinate system, where the beacon is the origin of therespective coordinate system. Angular encoding (or any other suitableencoding) is employed to specify the axes of the beacon coordinatesystem. The beacon coordinate system enables robots to queue along aparticular ray whose origin is the beacon. Angle encoding can alsoenable other useful properties.

Referring to FIG. 8, in one aspect, the guidance subsystem 254 includesshorter range active or passive beacons (which are substantially similarto those described above) and pathways established by any suitablemarkers 14 (such as those described above) attached to, for example, thefloor and/or other suitable surface (e.g. walls, racks, etc.) so thatthe automated guided vehicles are provided with a rough global referenceframe REF. Here the beacon 12 and marker 14 arrangement simplifiessensor range requirements compared to SLAM navigation. Referring also toFIG. 9 the guidance subsystem 254 includes, in one aspect, an ad hocmarker system including one or more markers 16 laid on the floor and/orother suitable surface (e.g. walls, racks, etc.), in some casestemporarily. A route marker 14 indicating an automated guided vehicle 10path is employed in situations where either a line of sight betweenbeacons does not exist or traveling in a straight path between beaconsis not desired. For example, a route marker enables an automated guidedvehicle 10 to avoid a ditch at a construction site. As may be realized,the automated guided vehicle 10 can illuminate, for example, a tape orline using, e.g., conventional IR LEDs. In aspect the automated guidedvehicle 10 detects the tape or line using a position-sensitive detectorcomposed of discrete components (i.e., not a camera) to servo on thetape or line. The detector measures the degree of retro-reflectivity inview to eliminate false positives. In one aspect, the automated guidedvehicle 10 servo on the line directly. In one aspect, the automatedguided vehicle 10 can servo at any selected offset with respect to theline. Offset servoing enables two important properties. When placing theline to mark the automated guided vehicle 10 path, workers need notallow space between line and objects. Any time the automated guidedvehicle 10 finds its path partially blocked by an object, the automatedguided vehicle 10 will increase its offset from the line so that it canfollow the line without colliding with the object. A second featureenabled by offset following allows two automated guided vehicles 10 thatmeet while traveling along the line in opposite directions to avoidcollision. When the automated guided vehicles 10 determine that acollision is imminent, each can offset its position relative to theline. The automated guided vehicles 10 can thus pass without obstructingeach other.

As may be realized, in one aspect the automated guided vehicle employsone or more of the navigation system described herein for navigating thewarehouse 1 and transporting storage cases 40 from one location toanother. In other aspects, the automated guided vehicles include anysuitable locating system, such as internal GPS that locates the vehiclewithin the warehouse 1 space such that an automated guided vehicle 10and/or controller 2 knows where the location and pose of automatedguided vehicle 10 within the warehouse 1 as desired.

Referring again to FIG. 1A, in one aspect, the automated guided vehicleis configured for navigation and path selection using one or more of theholonomic selectable paths 75 described above. For example, thecontroller subsystem 258 and/or controller 2 is configured to select oneor more of the paths 75 based on parameters such as obstacles, edges orthe racks or walls of the warehouse, optimum pathway way points, etc. Itis noted that where the controller 2 selects the initial path 75 thecontroller 2 sends any suitable commands to the automated guided vehicle10 to follow the initially selected path 75. In one aspect, theautomated guided vehicle maintains or modifies the initially selectedpath 75 by selecting other paths from the holonomically selectable pathsavailable based on, for example, transient obstacles or otherinformation indicating the initially selected path 75 is blocked orotherwise inaccessible. For example, the automated guided vehicle 10 maymove to another minimally offset path offset from the originallyselected path to avoid a transient obstacle. In one aspect, referringalso to FIG. 2 the controller subsystem 258 is connected to an obstacledetection subsystem 256 of the automated guided vehicle 10. The obstacledetection subsystem 256 includes one or more optical, capacitive,inductive, etc. sensors 256S configured to detect other robots andobstacles (e.g. such as walls, racks, human pickers, etc.) within thewarehouse 1. In one aspect the sensor 256S includes an active IR emitteron one automated guided vehicle 10 that is detected by a receiver onanother automated guided vehicle 10. The components of this system onthe two automated guided vehicles 10 is arranged such that the followingautomated guided vehicle 10 detects the automated guided vehicle 10 infront only when the two are physically close. In one aspect, theobstacle detection subsystem 256 includes one or more range sensors todetect transient features affecting path 75 passage where such transientfeatures include but are not limited to other robots, humans andobstacles. In one aspect, the range sensor(s) is a wide-angle (120degree) range sensor. Raw range sensor data (in the form of a list ofangle and range readings) supplied by the sensor is registered with andprocessed by a computer processor (e.g., a processor in the controllersubsystem 258) to return the position of the other robots, humans andobstacles. In response to the sensor data received from the obstacledetection subsystem 256 the controller subsystem 258 is configured tocommand (e.g. based on the path optimization algorithm noted above) thedrive subsystem 252 so that the automated guided vehicle selects paths75 (e.g. changes path from a selected path) that are unobstructed fortransporting one or more storage containers 40 from one point toanother. For exemplary purposes only, in one aspect a predeterminedautomated guided vehicle path 75PD (which in one aspect is one of theholonomic selectable paths 75) is defined by any suitable waypoints(e.g. coordinates, markers, beacons, etc.) between each of the orderfilling stations 80 and each of the aisles 50 where the automated guidedvehicles 10 are instructed by the controller subsystem 258 to follow thepredetermined automated guided vehicle path 75PD unless there is anobstruction in the path 75PD. Where there is an obstruction in the path(e.g. as detected by the obstacle detection subsystem 256) thecontroller subsystem 258 selects any one of the holonomic selectablepaths to avoid the obstacle and continue to a predetermined destination(e.g. storage location 30S, order filling station 80, etc.).

Referring to FIGS. 1 and 3-5 the warehouse 1 also includes one or moreorder filling stations 80. As will be described in greater detail below,the automated guided vehicles transport the storage containers to andfrom the order filling stations 80 so that one or more goods are pickedfrom the storage containers (e.g. at the order filling stations 80) tofill an order. The order filling stations 80 are connected to thesurface 60S, 70S of the floor 60 and mezzanine platforms 70 by anautomated guided vehicle access way 90 which includes a surface that issubstantially similar to surfaces 60S, 70S and also provides theholonomic selectable paths along which the automated guided vehicles 10travel.

Referring to FIG. 5, each order filling station 80 includes a frame 80Fconfigured so that, in one aspect, a storage container 40 (e.g. a sourcecontainer from which goods or SKUs are picked) carried by an automatedguided vehicle 10 is positioned at least partly within the frame (e.g.at the human picker upper ergonomic pick and place height) to allow ahuman picker HP to at least pick goods or products from the storagecontainer 40. It is noted that where a human picker HP transfer goods atthe order filling station 80 the order filling station 80 is be referredto herein as a manual fill station. One or more tables or order fillcontainer supports 510A, 510B are disposed agent to or integrally formedwith the frame 80F so as to support one or more order fill containers540 (e.g. an order container into which goods or SKUs are placed fororder fulfillment) at the human picker upper ergonomic pick and placeheight. As may be realized, the tables 510A, 510B and the frame 80F arearranged so that the human picker is substantially centrally locatedbetween the storage container 40 and the one or more order fillcontainers 540. Any suitable picking indicator 500 is provided toinstruct the human picker HP of, for example, which goods and how manyof the goods are to be picked and into which order fill containers 540the goods are to be placed. As may be realized, after the human pickerHP picks the required goods from the storage container 40, the automatedguided vehicle 10 carrying that storage container 40 moves away from theorder filling station 80 so that a new automated guided vehicle 10 witha different storage container 40 takes its place thereby providing thehuman picker HP with a continuously changing selection of goods or SKUsthat are needed for fulfilling orders. As may also be realized, theorder filling stations 80 are arranged in any suitable positionsrelative to each other and to the storage spaces that facilitates atleast automated guided vehicle transport of storage containers 40 (whichas described above are configured for insertion and removal from storagespaces of a shelf) between each of the order filling stations 80 and thestorage spaces 30S.

Referring to FIG. 3, in one aspect the tables 510A, 510B are replacedwith one or more automated guided vehicles 10′ (which are substantiallysimilar to automated guided vehicles 10) that support order fillcontainers 540 at the human picker upper ergonomic pick and placeheight. In this aspect, the human picker HP picks goods from a commonstorage container 40 for placement into multiple order fill container540. Here the automated guided vehicles 10′ (e.g. once one or more goodsare transferred into the order fill container at the order fillingstation 80) wait at the order filling stations for additional goods tobe placed in the order fill container (e.g. such as the next SKU toarrive at the order filling station), transport an order fill containerto a shipping station (e.g. where the order fill containers are one ormore of sealed, placed on pallets, loaded onto a shipping vehicle, etc.)or to another order filling station 80 for the receipt of additionalgoods (e.g. other SKUs) into the order fill container 540.

As may be realized, referring to FIG. 3A, in one aspect the locations ofthe storage container 40 and the order fill containers 540 are reversed.For example, the automated guided vehicles 10′ each support a storagecontainer 40 and the automated guided vehicle 10 supports an order fillcontainer. Here the human picker HP picks goods or SKUs from the storagecontainers 40 held on the automated guided vehicles 10′ for placingmultiple SKUs into the order fill container held by automated guidedvehicle 10. In other words goods are picked from a plurality of storagecontainers 40 and placed into a common order fill container 540 at theorder filling station 80. Here after the human picker HP picks itemsfrom an automated guided vehicle's storage container 40, the automatedguided vehicle 10 moves away from the order filling station 80 so that anew automated guided vehicle 10 with a different storage container 40takes its place thereby providing the human picker HP with acontinuously changing selection of containers 40 each holding the samegoods or SKUs that are needed for fulfilling orders (e.g. one containerholds one or more pieces of a first item, one container holds one ormore pieces of a second different item, etc.).

Referring to FIGS. 4 and 4A, in one aspect the human picker HP isreplaced with an automated pick/place robot 400 mounted to, or otherwiseconnected to, the frame 80F to form an automatic fill station. Thepick/place robot 400 is any suitable transfer robot configured to pickgoods from one container for placement in another container. Thepick/place robot 400 is connected to the controller 2 in any suitablemanner, such as through a wired or wireless connection, for receivingpick/place commands effecting the transfer of goods for orderfulfillment at the order filling stations 80. As may be realized, FIG.3A illustrates the pick/place robot 400 transferring multiple goods froma common storage container 40 for placement into multiple order fillcontainers 540 in a manner similar to that described above with respectto the human picker HP. Similarly, FIG. 4A illustrates the pick/placerobot 400 transferring multiple goods from multiple storage containersfor placement into a common order fill container 540 in a manner similarto that described above with respect to the human picker HP. As may berealized, the inclusion of a pick/place robot 400 in the order fillingstation 80 provides a completely automated picking system with little orno need for human intervention. In addition, any conveyors that aretypically used to move containers around and through a robotic pickingcell are replaced entirely or at least in part with the automated guidedvehicles 10.

As may be realized, once goods are removed from the storage containers40 at the order filling stations 80 the automated guided vehicles 10 areconfigured to (or otherwise instructed to by, for example, controller 2)return the storage containers to a storage space 30S (e.g. when goodsremain in the storage container). In one aspect, the storage container40 is returned to the storage space 30S from which it was picked whilein other aspects the storage container 40 is returned to a differentstorage space 30S that is different from the storage space from whichthe storage container 40 was picked. In one aspect the automated guidedvehicles 10 are configured to (or otherwise instructed to by, forexample, controller 2) place an order fill container 540 loaded at theorder filling station 80 to a storage space 30S in the array 20 ratherthan transport the order fill container to a shipping station or toanother order filling station 80.

Referring now to FIGS. 1A, 1B and 2 an exemplary operation of theautomated distribution center described herein (e.g. that includesstorage array 20 including stacked racks 30 with predetermined storagelocations 30S that are arranged along at least one aisle 50 having afloor 60) is provided. In one aspect, at least one of the aisles 50 isprovided with at least one mezzanine platform 70 above the floor 60(FIG. 10, Block 1000) where the floor 60 and the mezzanine platformallow human picker HP access to the predetermined storage locations 30Sof the racks 30 along the at least one aisle 50 however, it is notedthat in other aspects (as illustrated in FIG. 1) the automateddistribution center includes a single level (e.g. floor 60). At leastone automated guided vehicle is provided (FIG. 10, Block 1005) where theat least one automated guided vehicle is configured for traverse of thefloor 60 and/or the mezzanine platform 70 for accessing thepredetermined storage spaces 30S and is configured for holding andtransporting one of the storage containers 40 to and from the storagelocations 30S in a manner substantially similar to that described above.Transport of the storage containers is effected with the at least oneautomated guided vehicle (FIG. 10, Block 1010), in a mannersubstantially similar to that described above, on an undeterministictraverse surface 60S, 70S of each of the floor 60 and mezzanine platform70 where the undeterministic traverse surface 60S, 70S providesholonomic selectable paths 75 for the at least one automated guidedvehicle 10 substantially everywhere on the undeterministic traversesurface 60S, 70S and each of the paths 75 is freely selectable by the atleast one automated guided vehicle 10. At least one order fillingstation is provided (FIG. 10, Block 1015) where one or more goods arepicked from the storage containers to fill an order. In one aspect,picking and transporting of the storage containers is effected with theat least one automated guided vehicle 10 (FIG. 10, Block 1020) from oneof the storage locations 30S to the order filling station where the atleast one automated guided vehicle traverses the undeterministictraverse surface 60A, 70S. For example, upon receipt of an order fromthe controller 2, the automated guided vehicle 10 traverses to thestorage space 30S within the storage array 20 where a predeterminedstorage container 40 (e.g. needed to fulfill the order) is located. Theautomated guided vehicle 10 picks the predetermined storage container40, which contains one or more stock keeping units (e.g. SKUs or goods).The automated guided vehicle 10 is commanded, by for example controller2 or controller subsystem 258, to transport the predetermined storagecontainer 40 to a predetermined order filling station 80 where a humanpicker HP or an automated robot 400 (see e.g. FIGS. 3 and 4) isinstructed in any suitable manner (such as described above) to pick acertain number of goods from the predetermined storage container 40 andplace those goods into one or more order fill containers 540 disposedadjacent the picker HP or robot 400. It is noted that the order fillcontainers 540 are, in one aspect, substantially similar to the storagecontainers 40 while in other aspects the order fill containers 540 areany suitable container configured for the shipping/transport of goodsusing any suitable transport carrier (e.g. automobile, aircraft, marinevessel, courier, etc.). As may be realized, returns or replenishment ofgoods into the storage array 20 is accomplished in a mannersubstantially opposite that of the order fulfillment process describedabove. In other aspects, the automated guided vehicles 10 deliver thecontainers 40 to any suitable conveyors CONV (FIG. 1) that transport thecontainers 40 to and from the order filling stations 80 so that thehuman picker HP or the automated robot 400 (see e.g. FIGS. 3 and 4)picks a certain number of goods from the predetermined storage container40 and place those goods into one or more order fill containers 540disposed adjacent the picker HP or robot 400. Here once the goods areremoved from the containers 40 the conveyors CONV transfer thecontainers 40 from the order filling stations 80 to, for example, theautomated guided vehicles 10 for returning the containers 40 to thestorage spaces 30S or any other suitable location.

As can be seen from the above description, the aspects of the disclosedembodiment provide an autonomous order fulfillment system for use in awarehouse 1 without the typical infrastructure of custom racks/shelving.The aspects of the disclosed embodiment provide for a transportablesystem (e.g. the system can be easily transported between facilities)that allows for expansion of the system both horizontally and verticallyby adding additional racks and/or mezzanine platforms to existing racks.The automated guided vehicles described herein provide for the continualrearrangement of the location of goods within the warehouse based on,for example, any suitable factors such as a demand for a particulargood. The automated guided vehicles also eliminate conventionalconveyors within the warehouse, including downstream of the pickeroperation as noted above, where the automated guided vehicles carry andtransport the order fill containers 540 from the picking stations 80.The automated guided vehicles carrying storage containers 40 alsoprovide for batch picking of high demand items such that the automatedguided vehicle remains in the area of the order filling stations 80while travelling between the order filling stations 80 for deliveringthe high demand items to multiple order filling stations 80. Theautonomous order fulfillment system described herein further providesfor unrestricted human access throughout the storage structure while theautonomous guided vehicles remain operative when humans enter areas inwhich the autonomous guided vehicles operate. In other words, theautonomous guided vehicles work alongside (e.g. comingle with) humanpickers allowing simultaneous manual picker-to-goods order fulfillmentand robot goods-to-picker order fulfillment for managing peak loads andother order fulfillment efficiency considerations.

In accordance with one or more aspects of the disclosed embodiment anautomated distribution center includes a storage array including stackedracks with predetermined storage locations, for storage containers,arranged along at least one aisle; at least one of the aisles having abase or floor, and a mezzanine platform above the base or floor, thebase or floor and mezzanine platform being configured for human pickeraccess to the predetermined storage locations of the racks along the atleast one aisle; at least one automated guided vehicle configured fortraverse of the base or floor and the mezzanine platform to thepredetermined storage locations along the at least one aisle, andconfigured for holding and transporting one of the storage containers toand from the storage locations; the base or floor and mezzanine platformeach having an undeterministic traverse surface for the automated guidedvehicle, and the automated guided vehicle is configured so that theundeterministic traverse surface provides holonomic selectable paths forthe automated guided vehicle substantially everywhere on theundeterministic traverse surface, each of the paths being freelyselectable by the automated guided vehicle for traversing along theaisle on the base or floor; and an order filling station, where one ormore goods are picked from one or more of the storage containers to fillone or more orders; wherein the automated guided vehicle is configuredto pick the one of the storage containers from one of the storagelocations along the at least one aisle and transport the one of thestorage containers on the undeterministic traverse surface between thestorage array and the order filling station.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured for navigation and path selectionby simultaneous location and mapping.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured for navigation and path selectionby detecting beacons or passive tags.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured for navigation and path selectionby detecting one or more of beacons, passive tags and markers providedwithin the automated distribution center.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured for navigation and path selectionby detecting markers provided on the undeterministic traverse surface.

In accordance with one or more aspects of the disclosed embodiment theautomated distribution center further includes a controller configuredto effect one or more of selection and creation of one or more of theholonomic selectable paths by automated guided vehicle.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured to return the one of the storagecontainers from the order filling station to one of the storagelocations.

In accordance with one or more aspects of the disclosed embodiment theone of the storage containers is returned to the same location the oneof the storage containers was picked.

In accordance with one or more aspects of the disclosed embodiment theone of the storage containers is returned to a different location thanthe one of the storage containers was picked.

In accordance with one or more aspects of the disclosed embodiment theautomated distribution center further includes a vertical transportsystem connecting the mezzanine platform and the base or floor.

In accordance with one or more aspects of the disclosed embodiment thevertical transport system configured for automated guided vehicle liftroll on and roll off.

In accordance with one or more aspects of the disclosed embodiment thevertical transport system comprises automated guided vehicle ramps.

In accordance with one or more aspects of the disclosed embodiment thevertical transport system is configured for automated transport of thestorage containers between base or floor and mezzanine platform, wherethe at least one automated guided vehicle transfers the storagecontainers to and from the vertical transport system.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle includes a processor and at least one sensorconfigured to sense transient features affecting path passage andregister such path passage with the processor, in response to whichautomated guided vehicle changes path from a selected path.

In accordance with one or more aspects of the disclosed embodiment theat least one automated guided vehicle is configured to manipulate theone of the storage containers at one or more predetermined heights.

In accordance with one or more aspects of the disclosed embodiment theorder filling station is connected to the undeterministic traversesurface of the base or floor and mezzanine platform at least in part byan automated guided vehicle access way.

In accordance with one or more aspects of the disclosed embodiment theautomated distribution center further includes a controller with awarehouse management system configured to receive orders and to identifycontainers and corresponding storage locations; an automated guidedvehicle manager communicably connected with the at least one automatedguided vehicle and commanding the at least one automated guided vehicleto the corresponding storage locations for picking at least one of theidentified containers; and an automated human picker managercommunicably connected with at least one human picker and commanding theat least one human picker to work in concert with the at least oneautonomous guided vehicle.

In accordance with one or more aspects of the disclosed embodiment inresponse to a command, the at least one automated guided vehicle one ormore of generates and follows a selected path on the undeterministictraverse surface to the corresponding location by one or more ofselecting from and being commanded to follow the holonomic selectablepaths, and on sensing transient features affecting the path, changespath from selected path.

In accordance with one or more aspects of the disclosed embodiment theat least one automated guided vehicle has a movable containermanipulator configured to engage the storage containers so as to pickand place the one of the storage containers to and from a storagelocation on the racks, the movable container grip including at least twodegrees of freedom, for effect extension along a y axis and a Z axis.

In accordance with one or more aspects of the disclosed embodiment theat least one automated guided vehicle has a movable containermanipulator configured to engage the storage containers so as to pickand place the one of the storage containers to and from a storagelocation on the racks, the movable container grip including at least onedegree of freedom, for effecting extension along a Z axis where the atleast one automated guided vehicle rotates so that an X axis of the atleast one automated guided vehicle faces the storage location.

In accordance with one or more aspects of the disclosed embodiment a Zaxis stroke range of the movable container manipulator to pick the oneof the storage containers located at the storage location is a heightfrom the undeterministic traverse surface to a human picker upperergonomic pick and place height.

In accordance with one or more aspects of the disclosed embodiment theorder filling station is a manual fill station.

In accordance with one or more aspects of the disclosed embodiment theorder filling station is an automatic fill station.

In accordance with one or more aspects of the disclosed embodiment anorder fill container loaded at the order filling station is carried bythe automated guided vehicle and the automated guided vehicle isconfigured to transport the order fill container to one of the storagelocations in the storage array.

In accordance with one or more aspects of the disclosed embodiment anautomated distribution center includes a storage array including stackedracks with predetermined storage locations, for storage containers,arranged along at least one aisle; at least one of the aisles having abase or floor, the base or floor being configured for human pickeraccess to the predetermined storage locations of the racks along the atleast one aisle; at least one automated guided vehicle configured fortraverse of the base or floor to the predetermined storage locationsalong the at least one aisle, and configured for holding andtransporting one of the storage containers to and from the storagelocations; the base or floor having an undeterministic traverse surfacefor the automated guided vehicle, and the automated guided vehicle isconfigured so that the undeterministic traverse surface providesholonomic selectable paths for the automated guided vehiclesubstantially everywhere on the undeterministic traverse surface, eachof the paths being freely selectable by the automated guided vehicle fortraversing along the aisle on the base or floor; and an order fillingstation, where one or more goods are picked from one or more of thestorage containers to fill one or more orders; wherein the automatedguided vehicle is configured to pick the one of the storage containersfrom one of the storage locations along the at least one aisle andtransport the one or the storage containers on the undeterministictraverse surface between the storage array and the order fillingstation.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle is configured for navigation and path selectionby one or more of simultaneous location and mapping, by detectingbeacons or passive tags, by detecting one or more of beacons, passivetags and markers provided within the automated distribution center.

In accordance with one or more aspects of the disclosed embodiment theautomated distribution center further includes a controller configuredto effect one or more of selection and creation of one or more of theholonomic selectable paths by automated guided vehicle.

In accordance with one or more aspects of the disclosed embodiment theautomated guided vehicle includes a processor and at least one sensorconfigured to sense transient features affecting path passage andregister such path passage with the processor, in response to whichautomated guided vehicle changes path from a selected path.

In accordance with one or more aspects of the disclosed embodiment theautomated distribution center further includes a controller with awarehouse management system or a controller configured to work with anexisting warehouse management system, the controller being configured toreceive orders and to identify containers and corresponding storagelocations; and an automated guided vehicle manager communicablyconnected with the at least one automated guided vehicle and commandingthe at least one automated guided vehicle to the corresponding storagelocations for picking at least one of the identified containers.

In accordance with one or more aspects of the disclosed embodiment theat least one automated guided vehicle has a movable containermanipulator configured to engage the storage containers so as to pickand place the one of the storage containers to and from a storagelocation on the racks, the movable container manipulator including atleast one degree of freedom, for effecting transfer of containers to andfrom the at least one automated guided vehicle.

In accordance with one or more aspects of the disclosed embodiment themovable container manipulator includes at least two degrees of freedom,for effect extension of the movable container manipulator along a y axisand a Z axis.

In accordance with one or more aspects of the disclosed embodiment theorder filling station is connected to the undeterministic traversesurface of the base or floor by an automated guided vehicle access way.

In accordance with one or more aspects of the disclosed embodiment amethod for transporting items in a storage array including stacked rackswith predetermined storage locations, for storage containers, arrangedalong at least one aisle having a base or floor, the method includesproviding at least one of the aisles with a mezzanine platform above thebase or floor, the base or floor and mezzanine platform allowing humanpicker access to the predetermined storage locations of the racks alongthe at least one aisle; providing at least one automated guided vehicleconfigured for traverse of the base or floor and the mezzanine platformto the predetermined storage locations along the at least one aisle, andconfigured for holding and transporting one of the storage containers toand from the storage locations; effecting transport of the one of thestorage containers, with the at least one automated guided vehicle, onan undeterministic traverse surface of each of the base or floor andmezzanine platform where the undeterministic traverse surface providesholonomic selectable paths for the automated guided vehiclesubstantially everywhere on the undeterministic traverse surface andeach of the paths is freely selectable by the automated guided vehiclefor traversing along the aisle on the base or floor; providing an orderfilling station, where one or more goods are picked from one or more ofthe storage containers to fill one or more orders; and effecting, atleast one automated guided vehicle, picking of the one of the storagecontainers from one of the storage locations along the at least oneaisle and transporting the one of the storage containers on theundeterministic traverse surface to the order filling station.

In accordance with one or more aspects of the disclosed embodiment themethod further includes connecting the order filling station to theundeterministic traverse surface of the base or floor and mezzanineplatform with an automated guided vehicle access way.

In accordance with one or more aspects of the disclosed embodiment themethod further includes effecting automated guided vehicle navigationand path selection by simultaneous location and mapping.

In accordance with one or more aspects of the disclosed embodiment themethod further includes effecting automated guided vehicle navigationand path selection by detecting beacons or passive tags.

In accordance with one or more aspects of the disclosed embodiment themethod further includes effecting automated guided vehicle navigationand path selection by detecting one or more of beacons, passive tags andmarkers provided on one or more of the undeterministic traverse surfaceand storage array.

In accordance with one or more aspects of the disclosed embodiment themethod further includes effecting selection of one or more of theholonomic selectable paths with automated guided vehicle.

In accordance with one or more aspects of the disclosed embodiment theone of the storage containers from the order filling station isreturned, the at least one automated guided vehicle, to one of thestorage locations.

In accordance with one or more aspects of the disclosed embodiment theone of the storage containers is returned to the same location the oneof the storage containers was picked.

In accordance with one or more aspects of the disclosed embodiment theone of the storage containers is returned to a different location thanthe one of the storage containers was picked.

In accordance with one or more aspects of the disclosed embodiment themethod further includes providing a vertical transport system connectingthe mezzanine platform and the base or floor.

In accordance with one or more aspects of the disclosed embodiment themethod further includes effecting a change from a selected path of theautomated guided vehicle with at least one sensor of the automatedguided vehicle that senses transient features affecting path passage andregisters such path passage with a processor of the automated guidedvehicle, in response to which the automated guided vehicle changes pathfrom a selected path.

In accordance with one or more aspects of the disclosed embodiment themethod further includes transporting the one or more orders from theorder filling station to a shipping station with the at least oneautomated guided vehicle.

It should be understood that the foregoing description is onlyillustrative of the aspects of the disclosed embodiment. Variousalternatives and modifications can be devised by those skilled in theart without departing from the aspects of the disclosed embodiment.Accordingly, the aspects of the disclosed embodiment are intended toembrace all such alternatives, modifications and variances that fallwithin the scope of the appended claims. Further, the mere fact thatdifferent features are recited in mutually different dependent orindependent claims does not indicate that a combination of thesefeatures cannot be advantageously used, such a combination remainingwithin the scope of the aspects of the invention.

What is claimed is:
 1. An automated distribution center comprising: astorage array including stacked racks with predetermined storagelocations, for storage containers, arranged along at least one aisle; atleast one of the aisles having a base or floor, the base or floor beingconfigured for human picker access to the predetermined storagelocations of the stacked racks along the at least one aisle; at leastone robot picker configured for traverse of the base or floor to thepredetermined storage locations along the at least one aisle, andconfigured for holding and transporting one of the storage containers toand from the storage locations; the base or floor having a floor rackaisle defining an undeterministic traverse surface for the at least onerobot picker, and the at least one robot picker is configured so thatthe undeterministic traverse surface of the floor rack aisle providesholonomic selectable paths for the at least one robot pickersubstantially everywhere on the undeterministic traverse surface, eachof the holonomic selectable paths being freely selectable by the atleast one robot picker for traversing along the aisle on the base orfloor; and an order filling station, where one or more goods are pickedfrom one or more of the storage containers to fill one or more orders;wherein the at least one robot picker is configured to pick the one ofthe storage containers from one of the storage locations along the atleast one aisle and transport the one or the storage containers on theundeterministic traverse surface between the storage array and the orderfilling station.
 2. The automated distribution center of claim 1,wherein the at least one robot picker is configured for navigation andpath selection by one or more of simultaneous location and mapping, bydetecting one or more of beacons, passive tags and markers providedwithin the automated distribution center.
 3. The automated distributioncenter of claim 1, further comprises a controller configured to effectone or more of selection and creation of one or more of the holonomicselectable paths by at least one robot picker.
 4. The automateddistribution center of claim 1, further comprising: a controller with awarehouse management system or a controller configured to work with anexisting warehouse management system, the controller being configured toreceive orders and to identify containers and corresponding storagelocations; and a robot picker manager communicably connected with the atleast one robot picker and commanding the at least one robot picker tothe corresponding storage locations for picking at least one of theidentified containers.
 5. The automated distribution center of claim 4,wherein, in response to a command, the at least one robot picker one ormore of generates and follows a selected path on the undeterministictraverse surface to the corresponding location by one or more ofselecting from and being commanded to follow the holonomic selectablepaths, and on sensing transient features affecting the path, changespath from the selected path.
 6. The automated distribution center ofclaim 4, wherein the at least one robot picker has a movable containermanipulator configured to engage the storage containers so as to pickand place the one of the storage containers to and from a storagelocation on the stacked racks, the movable container grip including atleast two degrees of freedom, for effect extension along a y axis and aZ axis.
 7. The automated distribution center of claim 4, wherein the atleast one robot picker has a movable container manipulator configured toengage the storage containers so as to pick and place the one of thestorage containers to and from a storage location on the stacked racks,the movable container grip including at least one degree of freedom, foreffecting extension along a Z axis where the at least one robot pickerrotates so that an X axis of the at least one robot picker faces thestorage location.
 8. The automated distribution center of claim 1,wherein the at least one robot picker is configured for navigation andpath selection by detecting markers provided on the undeterministictraverse surface.
 9. The automated distribution center of claim 1,wherein the at least one robot picker is configured to return the one ofthe storage containers from the order filling station to one of thestorage locations.
 10. The automated distribution center of claim 1,wherein the at least one robot picker comprises a processor and at leastone sensor configured to sense transient features affecting path passageand register such path passage with the processor, in response to whichthe at least one robot picker changes path from a selected path.
 11. Amethod comprising: providing a storage array of an automateddistribution center, the storage array including stacked racks withpredetermined storage locations, for storage containers, arranged alongat least one aisle, at least one of the aisles having a base or floor,the base or floor being configured for human picker access to thepredetermined storage locations of the stacked racks along the at leastone aisle, wherein the base or floor has a floor rack aisle defining anundeterministic traverse surface; providing at least one robot pickerfor traversing the base or floor to the predetermined storage locationsalong the at least one aisle, and holding and transporting one of thestorage containers to and from the storage locations, wherein theundeterministic traverse surface of the floor rack aisle providesholonomic selectable paths for the at least one robot pickersubstantially everywhere on the undeterministic traverse surface, eachof the holonomic selectable paths being freely selectable by the atleast one robot picker for traversing along the aisle on the base orfloor; providing an order filling station, where one or more goods arepicked from one or more of the storage containers to fill one or moreorders; and picking, with the at least one robot picker, the one of thestorage containers from one of the storage locations along the at leastone aisle and transporting the one or the storage containers on theundeterministic traverse surface between the storage array and the orderfilling station.
 12. The method of claim 11, further comprisingdetecting one or more of beacons, passive tags and markers providedwithin the automated distribution center, with the at least one robotpicker, for navigation and path selection by one or more of simultaneouslocation and mapping.
 13. The method of claim 11, further comprisingeffecting, with a controller, one or more of selection and creation ofone or more of the holonomic selectable paths by the at least one robotpicker.
 14. The method of claim 11, further comprising: receivingorders, with a controller with a warehouse management system or acontroller configured to work with an existing warehouse managementsystem, and identifying containers and corresponding storage locations;and commanding the at least one robot picker, with a robot pickermanager communicably connected with the at least one robot picker, tothe corresponding storage locations for picking at least one of theidentified containers.
 15. The method of claim 14, further comprisingone or more of generating and following, with the at least one robotpicker, in response to a command, a selected path on the undeterministictraverse surface to the corresponding location by one or more ofselecting from and being commanded to follow the holonomic selectablepaths, and on sensing transient features affecting the selected path,changing path from the selected path.
 16. The method of claim 14,further comprising effecting extension of a movable containermanipulator of the at least one robot picker along a y axis and a Z axisto engage the storage containers so as to pick and place the one of thestorage containers to and from a storage location on the stacked racks,the movable container grip including at least two degrees of freedom.17. The method of claim 14, further comprising effecting extension of amovable container manipulator of the at least one robot picker along a Zaxis to engage the storage containers so as to pick and place the one ofthe storage containers to and from a storage location on the stackedracks, the movable container grip including at least one degree offreedom, where the at least one robot picker rotates so that an X axisof the at least one robot picker faces the storage location.
 18. Themethod of claim 11, further comprising detecting, with the at least onerobot picker, markers provided on the undeterministic traverse surfacefor navigation and path selection.
 19. The method of claim 11, whereinthe at least one robot picker is configured to return the one of thestorage containers from the order filling station to one of the storagelocations.
 20. The method of claim 11, wherein the at least one robotpicker comprises a processor and at least one sensor, the method furthercomprising sensing transient features affecting path passage andregistering such path passage with the processor, in response to whichthe at least one robot picker changes path from a selected path.